KR20230161461A - transport car - Google Patents

Abstract

The transport vehicle 100 includes a container group support portion 2 that supports a plurality of containers 70 as a container group 7 in a stacked state within a specified stacking area 2A, and a container group support portion 2 supported on the container group support portion 2. It is provided with a lifting device (3) for lifting the containers (70) of the container group (7) and a transfer and loading device (4) for transporting and loading the containers (70). The lifting device 3 is a first lifting device that lifts a container 70 of an arbitrary height among the container group 7 stacked in the stacking area 2A with respect to the container 70 adjacent below the container 70. A lifting mechanism 31 and a second lifting mechanism that lifts the container 70 below the container 70 lifted by the first lifting mechanism 31 with respect to the container 70 adjacent to the bottom of the container 70. A lifting mechanism (32) is provided.

Description

transport car

The present invention relates to a transport vehicle that transports containers configured to be stackable in the vertical direction.

An example of such a transport vehicle is disclosed in Japanese Patent Laid-Open No. 2019-18983 (Patent Document 1). Hereinafter, in the description of the background technology, the symbols shown in parentheses are those of Patent Document 1.

The transport vehicle 2 disclosed in Patent Document 1 is provided with a traveling body 21. In addition, the traveling body 21 includes a support portion 23 for supporting a plurality of stacked containers W, and a lifting device for lifting some of the containers W among the stacked containers W in place. ) A device 25 and a transfer device 24 that transfers the container W to the support portion 23 are mounted.

In the transport vehicle 2 disclosed in Patent Document 1, the container W is retrieved and loaded on the support portion 23 by the transfer device 24, thereby removing the container W. It is becoming possible to increase or decrease the number of layers. Additionally, the lifting device 25 can lift a container W at an arbitrary stage among the plurality of stacked containers W. Therefore, when the container W is lifted by the transfer device 24, one container W to be collected is randomly selected from among the plurality of stacked containers W and the container W is lifted. It is becoming possible to raise it. In addition, when the container W is placed down by the transport and loading device 24, it is possible to arbitrarily select the stage on which the container W to be loaded is placed and place the container W to be loaded on that stage. It is being done.

However, in the configuration of the transport vehicle disclosed in Patent Document 1, only one container W can be transported and mounted, so it is assumed that a plurality of containers W are transported and mounted on the support portion 23 in parallel. There is not.

Japanese Patent Publication No. 2019-18983

In consideration of the above-mentioned reality, it is expected to realize a transport vehicle that can perform a plurality of transfer and loading operations in parallel for a plurality of stacked containers.

A transport vehicle that transports containers configured to be stackable in the vertical direction,

A running vehicle,

a container group support portion mounted on the traveling body and supporting the plurality of containers as a group of containers in a stacked state within a prescribed stacking area;

a lifting device mounted on the traveling body and lifting the container of the container group supported on the container group support portion;

A transport and loading device is mounted on the traveling body and performs transport and loading of the container,

The transport and mounting device includes a first holding portion for holding the container, a second holding portion disposed below the first holding portion and holding the container, and a second holding portion between the first holding portion and the stacking area. A first transfer device for transporting and loading the container, and a second transportation device for transporting and loading the container between the second holding portion and the stacking area,

The lifting device includes a first lifting mechanism that lifts the container of a certain height among the container group stacked in the stacking area relative to the container adjacent below the container, and the container lifted by the first lifting device. A second lifting mechanism is provided to lift the container below the container relative to the container adjacent below the container.

According to this configuration, containers can be transported and placed in the stacking area by the first transporter, and containers can also be transported and placed in the stacking area by the second transporter. Additionally, in a group of containers in a stacked state, space in the vertical direction can be formed below the container lifted by the first lifting mechanism and below the container lifted by the second lifting mechanism. Therefore, by using the two spaces formed in this way, the transport and loading of containers by the first transporter and the second transporter for the group of containers in a stacked state can be performed in parallel. As described above, according to this configuration, it becomes possible to perform a plurality of transfer and loading operations in parallel with respect to a plurality of stacked containers.

Further features and advantages of the technology related to the present disclosure will become clearer through the following description of exemplary and non-limiting embodiments described with reference to the drawings.

[Figure 1] Plan view of a transport facility equipped with a transport vehicle
[Figure 2] Front view of the container shelf
[Figure 3] Front view of the container
[Figure 4] Sectional view IV-IV in Figure 3
[Figure 5] A view seen from the body width direction of the transport vehicle
[Figure 6] A view of the lifting device from the front and back directions of the car body
[Figure 7] Plan view showing the first and second postures of the transfer device
[FIG. 8] A view showing the transfer and mounting device seen from a direction perpendicular to the transfer and loading direction.
[Figure 9] A drawing showing the engaging and non-engaging postures of the engaging portion.
[Figure 10] A diagram showing the loading operation by the transfer device
[Figure 11] A diagram showing the collection operation by the transfer device
[Figure 12] Explanatory diagram showing the collection operation of containers on the shelf
[Figure 13] Illustration showing the collection operation of containers on the shelf
[Figure 14] Illustration showing the collection operation of containers on the shelf
[Figure 15] Illustration showing the collection operation of containers on the shelf
[Figure 16] Illustration showing the collection operation of containers on the shelf
[Figure 17] Illustration showing the collection operation of containers on the shelf
[Figure 18] Illustration showing the loading operation of containers on the shelf
[Figure 19] Illustration showing the loading operation of containers on the shelf
[Figure 20] Explanatory diagram showing the loading operation of containers on the shelf
[Figure 21] Illustration of the case of performing parallel operations of collecting and loading containers in the stacking area
[Figure 22] Illustration of the case of performing parallel operations of collecting and loading containers in the stacking area
[Figure 23] Illustration of the case of performing parallel operations of collecting and loading containers in the stacking area
[Figure 24] Illustration of the case of performing parallel operations of collecting and loading containers in the stacking area
[Figure 25] Illustration of the case of performing parallel operations of collecting and loading containers in the stacking area
[Figure 26] Illustration of the case of performing parallel operations of collecting and loading containers in the stacking area
[Figure 27] Illustration of the case of performing parallel operations of collecting and loading containers in the stacking area
[Figure 28] Illustration of the case of performing parallel operations of collecting and loading containers in the stacking area
[Figure 29] Illustration of the case of performing parallel operations of collecting and loading containers in the stacking area
[Figure 30] Illustration of the case of performing parallel operations of collecting and loading containers in the stacking area
[Figure 31] Illustration of the case of performing parallel operations of collecting and loading containers in the stacking area
[Figure 32] Illustration of the case of performing parallel operations of collecting and loading containers in the stacking area
[Figure 33] Illustration of the case of performing parallel operations of collecting and loading containers in the stacking area
[Figure 34] Illustration of the case of performing parallel operations of collecting and loading containers in the stacking area
[Figure 35] Illustration of the case of performing a container replacement operation for the shelf unit
[Figure 36] Explanatory diagram for the case of performing a container replacement operation for the shelf unit
[Figure 37] Illustration of the case of performing a container replacement operation for the shelf unit
[Figure 38] Illustration of the case of performing a container replacement operation for the shelf unit
[Figure 39] Illustration of the case of performing a container replacement operation for the shelf unit
[Figure 40] Explanatory diagram for the case of performing a container replacement operation for the shelf unit
[Figure 41] Illustration of the case of performing a container replacement operation for the shelf unit
[Figure 42] Explanatory diagram for the case of performing a container replacement operation for the shelf unit

The transport vehicle transports containers configured to be stackable in the vertical direction. Hereinafter, an embodiment of the transport vehicle will be described by taking the case where the transport vehicle is provided in transport equipment for transporting containers.

As shown in FIG. 1, the transfer facility F is provided with a container shelf 8 that stores the container 70 (see FIG. 3) and a loading/unloading section 9 that carries out loading and unloading of the container 70. I'm doing it. The transport vehicle 100 is used to transport the container 70 brought in by the carrying-in/out unit 9 to the container shelf 8, or to carry out the container 70 stored in the container shelf 8. Return to (9).

In this embodiment, a plurality of container shelves 8 are arranged in parallel with each other at prescribed intervals. Each of the plurality of container shelves 8 has at least a front opening, and the containers 70 are loaded and unloaded from the front. And, a part of the travel path R of the transport vehicle 100 is set between a pair of container shelves 8 that face each other and are adjacent to each other. In addition, among the plurality of container shelves 8 provided in the transfer facility F, the container shelf 8 disposed at the end is arranged with its front facing outward, and the area along the front of the container shelf 8 at that end is A part of the driving route (R) is also set. Moreover, a plurality of carrying-in and out-port parts 9 are installed in the conveyance facility F, and a part of the travel path R is also set in an area passing through each of the plurality of carrying-in and out-port parts 9.

The running path R is an inner shelf path Ra extending along the front of the container shelf 8 in the extension direction of the container shelf 8, and an inner shelf path Ra outside the arrangement area of the container shelf 8. It contains an off-the-shelf path (Rb) that intersects the path (Ra). The shelf path Ra is set to correspond to each of the plurality of container shelves 8. In this embodiment, a portion of the travel path R set in the area between a pair of container shelves 8 that are adjacent to each other facing each other in front, and along the corresponding front side of the container shelves 8 arranged with the front faces outward. A part of the traveling path R set in the area corresponds to the intra-shelf path Ra. Additionally, the off-shelf path Rb is set to connect a plurality of on-shelf paths Ra. Additionally, the off-shelf path Rb is set to pass through each of the plurality of loading and unloading sections 9. In this embodiment, the portion of the travel path R other than the inside-shelf path Ra corresponds to the off-shelf path Rb.

[Container shelf]

As shown in FIG. 2, the container shelf 8 is provided with a plurality of shelves 80 for storing containers 70 in the vertical direction. In this embodiment, the container shelf 8 is configured by combining a plurality of support members 81 and a plurality of beam members 82. A plurality of beam members 82 are arranged with gaps in the vertical direction. And, a mounting member 83 for mounting the container 70 is connected to each of the plurality of beam members 82. In this example, the container 70 is stored in the shelf section 80 by being mounted on a pair of mounting members 83. In addition, a plurality of sets of a pair of mounting members 83 are arranged on the shelf portion 80, and a plurality of containers 70 can be stored in one shelf portion 80. In this example, between a pair of support members 81 adjacent in the width direction (left and right directions) when viewed from the front shown in FIG. 2, between a pair of beam members 82 adjacent in the vertical direction The area corresponds to the opening of the container shelf 8.

In this embodiment, a target portion 82T is provided at the reference position 80P for storing the container 70 on the shelf portion 80, which serves as a target for storing the container 70 at the reference position 80P. . In this example, the target portion 82T is installed on the beam member 82. One target portion 82T is provided per set of the pair of mounting members 83. In the illustrated example, the target portion 82T is formed by a hole formed in the beam member 82.

[courage]

As shown in FIG. 3, the container 70 is formed in a box shape with an opening 71 opening upward and a peripheral wall portion 72 surrounding the internal space of the container 70. It is done. In this example, the outer shape of the container 70 when viewed from the top and bottom has a rectangular shape. Articles can be accommodated in the internal space surrounded by the main wall portion 72, that is, the inside of the container 70. Goods include, for example, various products such as foodstuffs and household goods, parts used in factory production lines, etc., and articles being manufactured.

The container 70 is configured so that it can be stacked with a separate container 70 while containing an article therein. That is, the container 70 is configured to be stackable in the vertical direction (see also FIG. 5). In this example, the container 70 is provided with a fitting portion 77 that protrudes downward from its bottom. The fitting portion 77 of the container 70 is fitted from above with respect to the opening 71 of a separate container 70, thereby stacking the two containers 70 in the vertical direction.

3 and 4, in this embodiment, the container 70 is provided with a plurality of rib portions protruding outward from the main wall portion 72. Some of the plurality of rib parts are lifting rib parts 73 that are lifted by the lifting device 3 described later. In this example, the lifting rib portion 73 is formed on the upper part of the main wall portion 72. Additionally, the lifting rib portion 73 is formed over the entire circumference of the portion of the main wall portion 72 surrounding the opening portion 71 . Some of the plurality of rib portions are rib portions 74 for transfer and loading that are lifted during the transfer and loading operation by the transfer and loading device 4, which will be described later. In this example, the rib portion 74 for transport is formed below the rib portion 73 for lifting.

In this embodiment, the container 70 is provided with a concave portion 75. The concave portion 75 is formed on the surface of the container 70 where the rib portion 74 for transport and mounting is installed. In this example, the container 70 has a hanging wall that protrudes outward from the main wall 72 and extends downward between the lifting rib portion 73 and the transfer mounting rib portion 74 in the vertical direction. (76), and a concave portion (75) is formed between this hanging wall (76) and the main wall portion (72). In other words, the concave portion 75 is a space surrounded by the main wall portion 72 and the hanging wall 76. As will be described later, the locking wall 76 is a portion where the first locking portion 41Bb and the second locking portion 42Bb are caught during the transfer and loading operation by the transfer and loading device 4.

As shown in FIG. 3, the height of the container 70 is set to container height 70H. The container height 70H is the vertical dimension from the upper end to the lower end of the container 70, and in the present embodiment, the vertical dimension from the opening 71 to the lower end of the fitting portion 77. Equivalent to distance. In a state where a plurality of containers 70, for example, two containers 70 are stacked, the fitting portion 77 of the upper container 70 is fitted into the interior of the lower container 70. . Therefore, the total height of the two stacked containers 70 is shorter than the height of the two containers 70 (70H x 2) by the height of the fitting portion 77.

[Transport car]

As shown in FIG. 5, the transport vehicle 100 is a container that supports a traveling body 1 and a plurality of containers 70 as a group of containers 7 in a stacked state within a defined stacking area 2A. A group support unit 2, a lifting device 3 for lifting the containers 70 of the container group 7 supported on the container group support section 2, and a transfer and loading device 4 for transporting and loading the containers 70. ) is provided. The container group support portion 2, the lifting device 3, and the transfer device 4 are mounted on the traveling body 1. If the direction along the traveling direction in the traveling body 1 is "vehicle body front-back direction L", the container group support portion 2 and the transfer device 4 are arranged side by side in the vehicle body front-back direction L on the traveling body 1. It is done. In the following, the direction perpendicular to the front-back direction L of the vehicle body when viewed from the vertical direction is referred to as the “vehicle width direction W.”

In this embodiment, the transport vehicle 100 is equipped with a control device C. The control device C controls each functional part of the transport vehicle 100. In this example, the control device C controls the traveling body 1, the container group support 2, the lifting device 3, the transfer device 4, and the swing device 5 described later. The operations for transporting and loading the container 70 are realized by controlling each functional unit by the control device C. The control device C is equipped with, for example, a processor such as a microcomputer and peripheral circuits such as memory. Each function is realized through cooperation between these hardware and a program running on a processor such as a computer.

[Traveling body]

The traveling body 1 is configured to travel along a specified travel path R (see FIG. 1). In this embodiment, the traveling body 1 is configured to travel along an inside-shelf path Ra and an outside-the-shelf path Rb. The traveling body 1 is configured to travel along the container shelf 8 when traveling along the shelf path Ra, and more specifically, to travel along the front of the container shelf 8. In this embodiment, the traveling body 1 is configured to travel on the floor.

The traveling body 1 is provided with a plurality of traveling wheels 10 and a traveling drive unit 10M that drives at least one of the plurality of traveling wheels 10. The travel drive unit 10M is configured to include a motor (not shown). When the traveling drive unit 10M drives the traveling wheels 10, a driving force in the traveling direction is provided to the traveling body 1.

[Courage Army Support Department]

The container group support portion 2 is mounted on the traveling body 1. The container group support portion 2 is configured to support a plurality of containers 70 as a stacked container group 7. Above the container group support portion 2, a stacking area 2A in which the container group 7 is disposed is defined. The stacking area 2A is a three-dimensional virtual area extending upward from the container group support 2. In this example, the container group support portion 2 is configured as a conveyor capable of moving the container group 7 in a state where the container group 7 is mounted. In this example, the container group support portion 2 enables the container group 7 to move along the vehicle body width direction W. The conveyor constituting the container group support portion 2 may be a known conveyor such as a roller conveyor, chain conveyor, or belt conveyor.

A container group 7 in which a plurality of containers 70 are stacked is loaded into the loading/unloading section 9 (see FIG. 1). With the traveling body 1 adjacent to the loading/unloading section 9, the container group support portion 2 receives the container group 7 from the loading/unloading section 9, or places the container group 7 in the loading/unloading section 9. ) is handed over. That is, the container group support portion 2 is configured to receive and transfer the container group 7 to and from the loading/unloading portion 9. Although detailed illustration is omitted, in this example, the loading/unloading section 9 is adjacent to the picking area where the operation of removing articles from the container 70 is performed. When the container group 7 is handed over from the container group support unit 2 to the loading/unloading section 9, the articles are taken out from the container 70 in the picking area adjacent to the loading/unloading section 9. After part or all of the articles stored in the container 70 are taken out, the container 70 is handed over from the loading/unloading section 9 to the container group support section 2 (transfer vehicle 100) and again on the container shelf ( 8) is returned. However, the loading/unloading section 9 does not have to be adjacent to the picking area, and may be adjacent to other equipment or work areas. In addition, for example, the carrying-in/out unit 9 may be configured to transport the container group 7 handed over from the container group support part 2 to the outside of the transport facility F.

[Impression device]

The lifting device 3 is mounted on the traveling body 1. The lifting device 3 lifts the containers 70 of the container group 7 supported on the container group support portion 2, in other words, the containers 70 of the container group 7 arranged in the stacking area 2A. It is structured to

The lifting device 3 includes a lifting mast 30 installed upwardly from the traveling body 1, a lifting lifting member 30B connected to the lifting mast 30, and a lifting lifting member 30B. It is provided with a lifting lifting body driving unit 30M that moves up and down along the lifting mast 30. Although detailed illustration is omitted, the lifting lifting body driving unit 30M includes, for example, an endless body such as a belt connected to the lifting lifting body 30B, a rotating body around which the endless body is wound, and the rotating body. It is equipped with a motor that drives the rotation.

The lifting device 3 is a first lifting device that lifts a container 70 of an arbitrary height in the container group 7 stacked in the stacking area 2A with respect to the container 70 adjacent below the container 70. A lifting mechanism 31 and a second lifting mechanism that lifts the container 70 lower than the container 70 lifted by the first lifting mechanism 31 with respect to the container 70 adjacent below the container 70. A lifting mechanism 32 is provided. Additionally, in this embodiment, the first lifting mechanism 31 and the second lifting mechanism 32 are arranged to be spaced apart in the vertical direction. Thereby, for example, as shown in FIG. 25, the container 70 lifted by the first lifting mechanism 31 and the container 70 lifted by the second lifting mechanism 32 are aligned in the vertical direction. It is possible to form a space in between. In addition, it is possible to form a space in the vertical direction below the container 70 lifted by the second lifting mechanism 32.

In this embodiment, the lifting device 3 includes a first frame portion 31F and a second frame portion 32F that protrude in the vehicle body front-back direction L from the lifting lifting body 30B toward the stacking area 2A; , and a connecting frame portion 33F connecting the first frame portion 31F and the second frame portion 32F. The first frame portion 31F and the second frame portion 32F are arranged with a gap in the vertical direction. The first frame portion 31F is disposed above the second frame portion 32F. The connecting frame portion 33F connects the first frame portion 31F and the second frame portion 32F in the vertical direction. With this configuration, the first frame portion 31F and the second frame portion 32F do not move relative to each other, and the gap between the first frame portion 31F and the second frame portion 32F in the vertical direction is always constant. The first frame portion 31F, the second frame portion 32F, and the connecting frame portion 33F are integrally raised and lowered as the lifting lifting member 30B is raised and lowered.

As shown in Fig. 6, the first frame portion 31F includes a pair of first frame members 31Fa arranged with a gap in the vehicle body width direction W. The pair of first frame members 31Fa are arranged corresponding to the width (length in the vehicle body width direction W) of the container 70 arranged in the stacking area 2A. In other words, the arrangement spacing of the pair of first frame members 31Fa in the vehicle body width direction W corresponds to the width of the container 70. In this example, the arrangement spacing of the pair of first frame members 31Fa in the vehicle body width direction W is equal to the specified size according to the size of the first impression holding portion 31a, which will be described later, with respect to the width of the container 70. There is a large gap.

Similarly, the second frame portion 32F includes a pair of second frame members 32Fa arranged with a gap in the vehicle body width direction W. A pair of second frame members 32Fa are arranged corresponding to the width of the container 70 arranged in the stacking area 2A. In other words, the arrangement spacing of the pair of second frame members 32Fa in the vehicle body width direction W corresponds to the width of the container 70. In this example, the arrangement spacing of the pair of second frame members 32Fa in the vehicle body width direction W is a specified dimension according to the size of the second impression holding portion 32a, which will be described later, with respect to the width of the container 70. There is a large gap.

Additionally, the connecting frame portion 33F is provided with a pair of connecting frame members 33Fa. Each of the pair of connecting frame members 33Fa connects the first frame member 31Fa and the second frame member 32Fa arranged in the vertical direction.

In this embodiment, the first lifting mechanism 31 is provided with a first lifting holding portion 31a that holds the container 70. In addition, the first lifting mechanism 31 has a first lifting mechanism that changes the posture of the first lifting holding portion 31a between a holding posture for holding the container 70 and a non-holding posture for not holding the container 70. It is provided with a lifting driving unit 31M.

In this embodiment, the first lift holding portion 31a is configured to rotate around an axis along the vehicle body front-back direction L. The first pulling holding portion 31a is disposed in a position that overlaps with the lifting rib portion 73 of the container 70 in the stacking area 2A when viewed from the vertical direction in the holding posture, and is in the non-holding posture. , it retreats to the outside in the vehicle body width direction W from a position that overlaps with the lifting rib portion 73 when viewed from the top and bottom. In Fig. 6, the holding posture of the first impression holding portion 31a is shown by a solid line, and the non-holding posture of the first impression holding portion 31a is represented by a virtual line. In this way, the first lift holding portion 31a in the holding posture is arranged to face the lifting rib portion 73 from below. In this state, the first frame portion 31F rises, allowing the container 70 to be lifted.

In this embodiment, the first lifting mechanism 31 is provided with the above-described first frame portion 31F, and the first lifting holding portion 31a is supported on the first frame portion 31F. In detail, the first lift holding portion 31a is supported on each of a pair of first frame members 31Fa arranged with a gap in the vehicle body width direction W. In this way, the first lifting mechanism 31 is provided with a pair of first lifting holding portions 31a arranged with a gap in the vehicle body width direction W. The arrangement spacing of the pair of first impression holding portions 31a in the vehicle body width direction W corresponds to the width of the container 70 disposed in the stacking area 2A.

In this embodiment, the second lift mechanism 32 is provided with a second lift holder 32a disposed below the first lift holder 31a and holding the container 70. The second lift mechanism 32 is a second lift drive unit that changes the posture of the second lift holder 32a between a holding posture for holding the container 70 and a non-holding posture for not holding the container 70. (32M) is provided.

In this embodiment, the second lift holding portion 32a is configured to rotate around an axis along the vehicle body front-back direction L. The second pull holding portion 32a is disposed in a position that overlaps with the lifting rib portion 73 of the container 70 in the stacking area 2A when viewed from the vertical direction in the holding posture, and is in the non-holding posture. , it retreats to the outside in the vehicle body width direction W from a position that overlaps with the lifting rib portion 73 when viewed from the top and bottom. In Fig. 6, the holding posture of the second impression holding portion 32a is shown by a solid line, and the non-holding posture of the second impression holding portion 32a is represented by a virtual line. In this way, the second lifting holding portion 32a in the holding posture is arranged to face the lifting rib portion 73 from below. In this state, the second frame portion 32F rises and the container 70 is lifted.

In this embodiment, the second lifting mechanism 32 is provided with the above-described second frame portion 32F, and the second lifting holding portion 32a is supported by the second frame portion 32F. In detail, the second lift holding portion 32a is supported on each of a pair of second frame members 32Fa arranged with a gap in the vehicle body width direction W. In this way, the second lifting mechanism 32 is provided with a pair of second lifting holding portions 32a arranged with a gap in the vehicle body width direction W. The arrangement spacing of the pair of second impression holding portions 32a in the vehicle body width direction W corresponds to the width of the container 70 disposed in the stacking area 2A.

As shown in FIG. 6, between the container 70 lifted by the first lifting mechanism 31 and the container 70 lifted by the second lifting mechanism 32 in the vertical direction, another container 70 is placed. A space for transport and loading is created. As a result, it becomes possible to transfer and load another container 70 into the space using the transfer and loading device 4 (see FIG. 5). In other words, it is possible to stack another container 70 on the container 70 lifted by the second lifting mechanism 32 using the transfer device 4.

In this embodiment, as shown in FIGS. 5 and 6, a guide portion 3G is provided in the second lifting mechanism 32 to guide the container 70 to be transported and loaded by the transfer device 4. there is. In this example, the guide portion 3G includes a pair of guide members 3Ga arranged with a gap in the vehicle body width direction W. The arrangement spacing of the pair of guide members 3Ga in the vehicle body width direction W corresponds to the width of the container 70. In the example shown, a guide member 3Ga is provided on each of the pair of second frame members 32Fa. The guide member 3Ga is formed in a plate shape that rises upward from the second frame member 32Fa, and guides the container 70 with a plate surface facing inward in the vehicle body width direction W.

As will be described later, the transfer operation of the container 70 by the transfer device 4 includes moving the container 70 in the vertical direction in addition to the operation of moving the container 70 to a desired location in the horizontal direction. Movement is included. In this embodiment, the vertical distance 3H between the first pull holding portion 31a and the second pulling holding portion 32a is at the height of N stages (N is an integer of 2 or more) of the container 70. It is set according to the height obtained by adding the vertical movement amount Mv of the container 70 to be transported during the transport operation by the device 4 (the second transport machine 42B, which will be described in detail later). “N” is set in advance and is set to “2” in this example. That is, the vertical distance 3H between the first lift holding portion 31a and the second lifting holding portion 32a is the height of the two-stage container height 70H plus the vertical movement amount Mv of the container 70 in the transport operation. It is set according to (3H=70H×2+Mv). Additionally, a specified margin considering structural errors, control errors, etc. may be added to this. The vertical movement amount Mv will be described later.

[Transfer mounting device]

As shown in FIG. 5, the transfer device 4 is mounted on the traveling body 1. The transfer and loading device 4 is configured to transfer and load the container 70 to the transfer and loading target location. The transfer and loading device 4 is configured to perform a loading operation of transferring and loading the container 70 to the transfer and loading target location and a collection operation of transferring and loading the container 70 from the transfer and loading target location. In this embodiment, the transfer loading target location includes the stacking area 2A and the shelf portion 80 of the container shelf 8.

Here, the moving direction of the container 70 to be transported and mounted by the transport and loading device 4 is taken as the transport direction X. In addition, one side in the transfer and loading direction In this example, the transfer direction X is a direction along the horizontal direction. The transfer and loading direction loading side X1 is the side on which the container 70 moves along the transfer and loading direction The transport direction collection side X2 is the side on which the container 70 moves along the transport and mounting direction X when the container 70 is lifted.

In this embodiment, the transport vehicle 100 is equipped with a turning device 5 that turns the transfer device 4 around an axis along the vertical direction. As shown in FIG. 7, the swing device 5 rotates the transfer device 4 (particularly a part of the transfer device 4) around an axis along the vertical direction, and stacks the transfer device 4 in the transport direction It is configured to change the direction of the transfer device 4 by changing the first posture P1 toward the area 2A and the second posture P2 toward the container shelf 8 in the transfer direction X. In this way, in this embodiment, the transfer and loading direction X can be changed in the horizontal plane by the swing device 5.

In this embodiment, the transfer device 4 changes its posture depending on the location of the transfer target location. Specifically, the transfer and loading device 4 is in the first posture P1 when the transfer and loading target location is the stacking area 2A, and the transfer and loading target location is the container shelf 8 (shelf section 80). In this case, the second posture is P2. As shown in FIG. 8, in this example, the turning device 5 includes a turning table 50 that supports the transfer device 4 (particularly a part of the transfer device 4), and a transfer device described later. It is provided with a pivot 51 that rotatably supports the pivot 50 with respect to the mounting lifting body 40B, and a pivot drive unit 5M that drives the pivot 51. And, FIG. 8 shows the case where the transfer device 4 is in the second posture P2, and FIGS. 10 and 11 show the case where the transfer device 4 is in the first posture P1. 10 and 11, the lifting device 3 that actually lifts the container 70 is omitted in order to improve visibility.

As shown in FIG. 5, the transfer device 4 includes a transfer mast 40 installed upwardly from the traveling body 1, and a transfer and loading lifting body 40B connected to the transfer mast 40. ) and a transfer mounting lifting body driving unit 40M that raises and lowering the transfer mounting lifting body 40B along the transfer mounting mast 40. Although the detailed illustration is omitted, the lifting body driving unit 40M for transfer and loading includes, for example, an endless body such as a belt connected to the lifting body for transportation 40B, a rotating body around which the endless body is wound, and a rotating body that rotates the rotating body. It is equipped with a motor that drives it.

As shown in FIG. 8, the transfer device 4 includes a first holding portion 41A that holds the container 70, and a first holding portion 41A disposed below the first holding portion 41A to hold the container 70. A second holding unit 42A, a first transfer machine 41B for transporting and loading the container 70 between the first holding unit 41A and the transfer loading target location, and a second holding unit 42A; It is provided with a second transfer machine 42B that transfers and mounts the container 70 between transfer and mount target locations.

As described above, the transfer loading target location includes the stacking area 2A and the shelf portion 80 of the container shelf 8. That is, the first transfer machine 41B transfers and mounts the container 70 between the first holding portion 41A and the stacking area 2A or the shelf portion 80. Additionally, the second transfer machine 42B transfers and mounts the container 70 between the second holding portion 42A and the stacking area 2A or the shelf portion 80. In this embodiment, the first transfer machine 41B transfers and mounts the container 70 between the first holding portion 41A and the stacking area 2A in the state of the first posture P1 (FIGS. 10 and 10). 11, etc.), the container 70 is transferred and mounted between the first holding portion 41A and the shelf portion 80 in the second posture P2 (see FIG. 8, etc.). Similarly, the second transfer machine 42B transfers and mounts the container 70 between the second holding portion 42A and the stacking area 2A in the first posture P1 (see FIGS. 10 and 11, etc. (refer to), the container 70 is transferred and mounted between the second holding portion 42A and the shelf portion 80 in the state of the second posture P2 (see Fig. 8, etc.).

As shown in Fig. 8, in this embodiment, the transfer device 4 is provided with a holding connection portion 43 that connects the first holding portion 41A and the second holding portion 42A in the vertical direction. The holding portion 43 connects the first holding portion 41A and the second holding portion 42A so that the vertical distance between them is constant.

In this embodiment, the transfer device 4 includes a first holding drive unit 41MA that moves the first holding unit 41A along the transfer direction It is provided with a second holding drive unit 42MA that moves along. The first holding drive unit 41MA is configured to relatively move the first holding unit 41A along the transfer direction X with respect to the transfer and mounting lifting body 40B. The second holding drive unit 42MA is configured to relatively move the second holding unit 42A along the transfer direction X with respect to the transfer and mounting lifting body 40B. As described above, in this embodiment, the first holding portion 41A and the second holding portion 42A are connected by the holding connecting portion 43. Therefore, the first holding portion 41A and the second holding portion 42A move integrally along the transfer direction X. In this example, the first maintenance drive unit 41MA for driving the first maintenance unit 41A and the second maintenance drive unit 42MA for driving the second maintenance unit 42A are configured to be driven by a common drive source. there is.

In this embodiment, the first transfer machine 41B is a first pressing portion 41Ba that presses the container 70 toward the loading side ) and a first locking portion 41Bb that is caught on the container 70 when the container 70 is collected. Each of the first pressing portion 41Ba and the first engaging portion 41Bb is configured to be relatively movable along the transfer direction X with respect to the first holding portion 41A.

In this embodiment, the first transfer machine 41B is supported by the first holding portion 41A and includes a first support member 41Bc that supports the first pressing portion 41Ba and the first locking portion 41Bb. ) and a first transfer drive unit 41Mc that relatively moves the first support member 41Bc along the transfer direction X with respect to the first holding unit 41A. In this example, the first support member 41Bc is driven by the first transfer drive unit 41Mc, so that the first pressing part 41Ba and the first locking part 41Bb are connected to the first holding part 41A. It moves relative to the transport direction X.

In this embodiment, the first pressing portion 41Ba and the first locking portion 41Bb are configured to move integrally along the transfer direction X. And, the movable range of the first pressing portion 41Ba and the first locking portion 41Bb along the transfer direction X is larger than the movable range of the first holding portion 41A along the transfer direction X. In this embodiment, when the container 70 is transported and placed to the transfer and loading target location (lamination area 2A or shelf section 80), the first holding portion 41A is brought close to the transfer and loading target location. In this state, the container 70 is transported and mounted using the first pressing portion 41Ba or the first locking portion 41Bb. As a result, the gap between the first holding portion 41A and the location subject to transfer and loading during the transfer and loading operation can be reduced, and stable transfer and loading of the container 70 by the first transfer and loading machine 41B is possible. .

In this embodiment, the second transfer machine 42B includes a second pressing portion 42Ba that presses the container 70 toward the loading side X1 in the transfer direction when the container 70 is loaded, and a container It is provided with a second locking portion 42Bb that catches the container 70 when the collection operation of 70 is performed. Each of the second pressing portion 42Ba and the second locking portion 42Bb is configured to be relatively movable along the transfer direction X with respect to the second holding portion 42A.

In this embodiment, the second transfer machine 42B is supported by the second holding portion 42A and includes a second support member 42Bc that supports the second pressing portion 42Ba and the second locking portion 42Bb. ) and a second transfer drive unit 42Mc that relatively moves the second support member 42Bc along the transfer direction X with respect to the second holding unit 42A. In this example, the second support member 42Bc is driven by the second transfer drive unit 42Mc, so that the second pressing portion 42Ba and the second locking portion 42Bb are connected to the second holding portion 42A. ) moves relative to the transport direction X.

In this embodiment, the second pressing portion 42Ba and the second locking portion 42Bb are configured to move integrally along the transfer direction X. And, the movable range of the second pressing portion 42Ba and the second locking portion 42Bb along the transfer direction X is larger than the movable range of the second holding portion 42A along the transfer direction X. In this embodiment, when transporting the container 70 to the transfer and loading target location (lamination area 2A or shelf section 80), the second holding portion 42A is brought close to the transfer loading target location. In this state, the container 70 is transported and mounted using the second pressing portion 42Ba or the second locking portion 42Bb. As a result, the gap between the second holding portion 42A and the transfer target point during the transfer operation can be reduced, and stable transfer and placement of the container 70 by the second transfer unit 42B is possible. .

In this embodiment, the first transfer machine 41B is provided with a first locking drive portion 41Mb that drives the first locking portion 41Bb. In this example, the first locking drive portion 41Mb rotates the first locking portion 41Bb around a rotation axis along the transport direction X. Additionally, the second transfer machine 42B is provided with a second locking drive unit 42Mb that drives the second locking part 42Bb. In this example, the second locking drive portion 42Mb rotates the second locking portion 42Bb around a rotation axis along the transport direction X.

As shown in FIG. 9, the first locking portion 41Bb is rotationally driven by the first locking driving portion 41Mb, so that the locking posture is inserted into the recessed portion 75 of the container 70, and the recessed portion 75 It is configured so that the posture can be changed to a non-obstructed posture. The first locking portion 41Bb in the locking posture is disposed in the recessed portion 75 between the main wall portion 72 and the locking wall 76 in the transport direction X. Likewise, the second locking portion 42Bb is rotationally driven by the second locking driving portion 42Mb, so that the second locking portion 42Bb has a locking posture inserted into the recessed portion 75 of the container 70 and a non-latching posture emerging from the recessed portion 75. It is configured so that the posture can be changed. The second locking portion 42Bb in the locking posture is disposed in the recessed portion 75 between the main wall portion 72 and the locking wall 76 in the transport direction X.

Next, the transfer operation of the container 70 performed by the transfer device 4 will be described with reference to FIGS. 10 and 11. 10 and 11 show the container 70 in a simplified manner.

10 and 11 show the operation of the transfer and loading device 4 when transferring and loading the container 70 to the stacking area 2A as the transfer and loading target location. FIG. 10 shows the loading operation of the container 70 by the transfer and loading device 4, and FIG. 11 shows the collecting operation of the container 70 by the transportation and loading device 4. Even when the shelf portion 80 of the container shelf 8 becomes the location for transfer and loading, the transfer and loading device 4 operates in substantially the same way. Additionally, the transfer operation of the container 70 by the first transfer device 41B and the transfer operation of the container 70 by the second transfer device 42B are the same. Therefore, in FIGS. 10 and 11, the transfer operation by each transfer device 41B and 42B will be comprehensively explained. Therefore, hereinafter, the first holding unit 41A and the second holding unit 42A are collectively referred to as “holding unit A”, and the first transfer machine 41B and the second transfer machine 42B are referred to as “transfer unit A”. The first pressing portion 41Ba and the second pressing portion 42Ba are collectively referred to as “pressing portion Ba”, and the first engaging portion 41Bb and the second engaging portion 42Bb are collectively referred to as “mounting device B”. ) is collectively referred to as “locking portion Bb”, and the first support member 41Bc and the second support member 42Bc are collectively referred to as “support member Bc.” 10 and 11, the first transfer machine 41B and the second transfer machine 42B are shown without any particular distinction, and the sensors Se1 and Se2 and the regulating portion 44, which will be described later, are omitted. there is.

As shown in Fig. 10, when the transfer machine B performs a loading operation, the container 70 is pressed by the pressing portion Ba toward the loading side X1 in the transfer direction. In this embodiment, during the loading operation, the pressure portion Ba moves the container 70 from the collecting side Press towards X1. As a result, the container 70 as a loading object held by the holding portion A moves from the holding portion A to the stacking area 2A.

In this embodiment, when the transfer machine B performs a loading operation of the container 70 with respect to the stacking area 2A, the holding portion A is moved up and down. In detail, the holding portion A is such that, at the start of the loading operation, the lower end (lower surface) of the container 70 to be loaded is the upper end (upper surface) of another container 70 in the stacking area 2A to be loaded. ) is placed at the loading operation start height set at a height located above. Here, the loading operation start height is such that the lower surface of the fitting portion 77 of the container 70 to be loaded is positioned above the upper surface of the opening 71 of the other container 70 in the stacking area 2A by a specified amount. It is at a height that Then, after the container 70 to be loaded enters the stacking area 2A, the holding portion A descends to the loading operation completion height set below the loading operation start height, and the container 70 to be loaded is stacked on another container 70 disposed in the stacking area 2A. In this way, the holding portion A moves up and down to align the fitting portion 77 of the container 70 to be loaded into the opening 71 of the other container 70 disposed in the stacking area 2A. It can be fitted properly by moving it closer from the top. Such vertical movement of the holding portion A is realized by lifting and lowering the transport and loading lifting body 40B (see FIG. 5).

As shown in Fig. 11, when the transfer machine B performs a collection operation, the container 70 is pulled toward the collection side X2 in the transfer direction by the locking portion Bb. In this embodiment, the locking portion Bb is in a locking posture when performing a collection operation, and is in contact with the locking wall 76 of the container 70 from the loading side 70) is pulled toward X2 on the collection side in the transfer loading direction. Accordingly, the container 70 to be collected arranged in the stacking area 2A moves from the stacking area 2A to the holding portion A.

In this embodiment, when the transfer machine B performs a collection operation of the container 70 with respect to the stacking area 2A, the holding portion A is moved up and down. In detail, at the start of the collection operation, the latching portion Bb and the support member Bc in the non-latching posture are at a height located below the rib portion 74 for transfer and the latching wall 76. It is placed at the set collection operation start height. Next, after the locking portion Bb is in the locking posture, the holding portion A rises to the collection operation completion height set above the collection operation start height, and the locking portion Bb in the container 70 is raised. Lift the stuck part. In this example, as shown in FIG. 9, a support member Bc (first support member 41Bc, The second support member 42Bc contacts the rib portion 74 for transport and mounting of the container 70 from below to lift the container 70. At this time, the locking portion Bb (the first locking portion 41Bb and the second locking portion 42Bb) do not participate in the lifting of the container 70. As the container 70 is partially lifted by the support member Bc (the first support member 41Bc and the second support member 42Bc), the container 70 to be collected is collected in the transport direction. As it moves towards side Here, the collection operation completion height is such that the end of the collection side It has a height located above the upper surface of the opening 71 of the other container 70 that was placed adjacent to it by a specified amount. As a result, the end of the fitting portion 77 of the container 70 to be collected on the collection side There is, and the fit between the containers 70 can be properly released. Thereafter, the locking portion Bb and the support member Bc move relative to the holding portion A in the collection side Move to the maintenance section (A). Such vertical movement of the holding portion A is realized by lifting and lowering the transport and loading lifting body 40B (see FIG. 5).

As described above, the transfer device 4 performs a transfer operation of the container 70 to the stacking area 2A by moving the container 70 in the vertical direction in addition to the transfer direction X. As a result, it becomes possible to perform the transfer and loading operation while properly engaging and disengaging the containers 70 with each other. On the other hand, when the transfer device 4 performs a transfer operation on the shelf portion 80 of the container shelf 8, it is not related to the fitting of the containers 70, so it involves movement in the vertical direction. Alternatively, the container 70 may be moved only in the transport direction X.

In the present embodiment, the holding portion A is provided with a transfer machine side guide portion 4G that guides the container 70 to be transported in the transport direction X. The transfer device side guide portion 4G is installed at both ends of the holding portion A in a direction perpendicular to the transfer and loading direction It is configured to guide the surfaces facing outward on both sides of the direction. The transfer machine side guide portion 4G is provided on each of the first holding portion 41A and the second holding portion 42A (see Fig. 8).

As shown in FIG. 8, the vertical distance 4H between the first holding portion 41A and the second holding portion 42A is at the height of N stages (N is an integer of 2 or more) of the container 70. It is an interval equal to or greater than the height plus the vertical movement amount Mv of the container 70 as a transport object during the transport operation by the device 4 (specifically, the second transport machine 42B). In this embodiment, the above “N” is set to “2”, and the vertical distance 4H between the first holding portion 41A and the second holding portion 42A is equal to the two-stage space of the container 70. It is an interval equal to or greater than the height plus the vertical movement amount Mv of the container 70 to be transported during the transport operation by the second transfer machine 42B (4H = 70H x 2 + Mv). Therefore, in this embodiment, the vertical distance between the first impression holding portion 31a and the second impression holding portion 32a is 3H (see Fig. 6), and the first holding portion 41A and the second holding portion ( The spacing 4H in the vertical direction of 42A) is set equally.

As described above, in the vertical distance 4H between the first holding portion 41A and the second holding portion 42A, the container 70 as the object of transfer is placed during the transfer operation by the second transfer machine 42B. The vertical movement amount Mv is taken into consideration. As described above, in this embodiment, a fitting portion 77 is formed at the bottom of the container 70, and the fitting portion 77 is fitted into the opening 71 of the container 70 below. It has a tailored configuration. Therefore, in both the case of carrying out the loading operation of the container 70 and the case of performing the collection operation, the second transfer machine 42B moves the container 70 up and down by more than the vertical dimension of the fitting portion 77. It needs to be moved. That is, in this embodiment, the vertical movement amount Mv is set larger than the vertical dimension of the fitting portion 77 of the container 70. Accordingly, when another container 70 is transferred and placed by the second transfer machine 42B into the space below the container 70 lifted by the second lifting mechanism 32, the stacking area 2A Fitting and disengaging of the containers 70 with each other can be performed appropriately (see Fig. 29). Additionally, a specified margin considering structural errors, control errors, etc. may be added to the spacing 4H in the vertical direction.

In this embodiment, as shown in FIGS. 29 and 30, the second transfer machine 42B lifts the container 70 adjacent to the bottom of the container 70 lifted by the second lifting mechanism 32. A container ( The first holding portion 41A and the second holding portion 41A are disposed at a height for transporting (lowering) the container 70 lifted by the second lifting mechanism 32. An interval of 4H (see Fig. 8) in the vertical direction of the holding portion 42A is set. As a result, it becomes possible to perform the collection operation and loading operation of the container 70 in the stacking area 2A in parallel (see FIGS. 30 and 31).

As shown in FIG. 8, in this embodiment, the transfer device 4 is provided with a regulating portion 44. As shown in FIGS. 30 and 31, the regulating portion 44 is adjacent to the bottom of the container 70 to be collected when the second transfer machine 42B performs a collection operation of the container 70 to be collected. It is disposed opposite to the second holding part 42A side with respect to the container 70 and is configured to regulate movement of the container 70 adjacent to the bottom of the container 70 to be collected toward the second holding part 42A. It is done. In the example shown, the third-tier container 70 from the bottom in the stacking area 2A is the container 70 to be collected, and the second-tier container 70 from the bottom is regulated by the regulation unit 44. It is made of a container (70) of the object. With this configuration, during the collection operation, the container 70 to be collected moving toward the second holding portion 42A interferes with the container 70 (adjacent container 70) adjacent below it, thereby causing the container 70 to be collected to move toward the second holding portion 42A. When a force toward the second holding portion 42A is applied to (70), the adjacent container 70 and a plurality of containers 70 stacked below the adjacent container 70 move toward the second holding portion 42A. It can prevent you from falling or moving.

As shown in FIG. 8, in this embodiment, the regulating part 44 is attached to the 2nd holding part 42A, and is arrange|positioned below the 2nd locking part 42Bb. In the example shown, the regulating portion 44 is attached to an end portion of the second holding portion 42A on the loading side X1 in the transport direction. The second locking portion 42Bb is supported by the second support member 42Bc, and is configured to move along the transfer direction X integrally with the second support member 42Bc. Then, this second support member 42Bc moves relative to the second holding portion 42A. That is, in this embodiment, the second locking portion 42Bb supported on the second support member 42Bc and the regulating portion 44 mounted on the second holding portion 42A are relatively movable along the transfer and mounting direction X. It is composed of: With this configuration, when the second transfer machine 42B performs a collection operation, the second locking portion 42Bb is moved toward the second holding portion 42A while the regulating portion 44 is moved to the collection target. It can be fixed at a position opposite to the container 70 adjacent below the container 70 from the second holding portion 42A side. Therefore, while appropriately lifting the container 70 to be collected, the container 70 adjacent to the bottom of the container 70 to be collected and the plurality of containers 70 stacked below it are held by the second holding unit ( 42A) falling to the side can be appropriately controlled (see Figures 30 and 31). Additionally, the regulating portion 44 may be stopped at that location when the second locking portion 42Bb moves toward the collection side It may be moved to the loading side X1 in the transfer and loading direction, or it may be moved to the collection side

As shown in FIG. 8, in this embodiment, the transfer device 4 includes a reference position detection sensor that detects the reference position 80P (see FIG. 2) for storing the container 70 on the shelf 80. It is provided with (Se1) and a storage container detection sensor (Se2) that detects the container 70 stored in the shelf portion 80.

As described above with reference to FIG. 2 , a target portion 82T is provided at the reference position 80P on the shelf portion 80. In this embodiment, the reference position detection sensor Se1 detects the target portion 82T, thereby determining the position of the reference position 80P of the transfer device 4 and the shelf section 80 provided with the reference position detection sensor Se1. It is configured to detect relationships. And, based on the detection result of the target portion 82T by the reference position detection sensor Se1, the traveling body 1, the swing device 5, and the lifting and lowering body drive unit for transport of the transport and loading device 4 ( By controlling 40M) and performing an operation to correct the position of the transfer device 4, it becomes possible to properly transfer and load the container 70 to the shelf section 80. In this example, the reference position detection sensor Se1 is comprised of a camera. The positional relationship between the transfer device 4 and the target portion 82T provided on the beam member 82 can be detected through image recognition by the reference position detection sensor Se1 configured as a camera. Additionally, in this example, the reference position detection sensor Se1 also functions as a range sensor that detects the distance to the target. When the transfer and loading device 4 transfers and mounts the container 70 to the transfer and loading target location, the reference position detection sensor Se1 detects the distance to the transfer and loading target location. This makes it possible to perform a transfer and loading operation with high certainty.

When the storage container detection sensor Se2 performs a loading operation to transfer and place a container 70 on the shelf section 80, the container ( 70) is detected. When the storage container detection sensor Se2 detects that there is no container 70 on the target shelf 80 as the loading destination, the transfer device 4 transfers the container 70 to the shelf 80. ) perform the loading operation. When the storage container detection sensor Se2 detects that the container 70 is on the target shelf 80 as the loading destination, the container 70 may be transferred and placed on another empty shelf 80. Alternatively, transfer loading may be stopped. In this example, the storage container detection sensor Se2 may also be configured as a range sensor that detects the distance to the target. In this way, the transfer and loading operation can be performed while measuring the distance between the transfer and loading device 4 and the transfer and loading target location. In this embodiment, the storage container detection sensor Se2 is configured as an optical sensor that projects light toward a target. However, the configuration is not limited to this, and the storage container detection sensor Se2 may be configured using known means such as an ultrasonic sensor or a camera, for example.

The reference position detection sensor Se1 is in one set of the set of the first holding part 41A and the first transfer machine 41B and the set of the second holding part 42A and the second transport machine 42B. It is installed. And, the storage container detection sensor Se2 is at the reference position of the set of the first holding part 41A and the first transfer machine 41B and the set of the second holding part 42A and the second transport machine 42B. It is installed on the other set where the detection sensor Se1 is not installed. In this embodiment, the reference position detection sensor Se1 is installed in the set of the first holding part 41A and the first transfer machine 41B. In this example, the reference position detection sensor Se1 is installed on the first holding portion 41A. Additionally, the reference position detection sensor Se1 may be installed in the first transfer machine 41B. Additionally, in this embodiment, the storage container detection sensor Se2 is installed in the set of the second holding portion 42A and the second transfer machine 42B. In this example, the storage container detection sensor Se2 is installed in the second holding portion 42A. Additionally, the storage container detection sensor Se2 may be installed in the second transfer machine 42B.

[Transfer loading operation]

Hereinafter, with reference to FIGS. 12 to 34, the operation of transporting and loading the container 70 by the transport and loading device 4 will be described. In Figures 12 to 34, only the elements necessary for explanation of the transfer and loading operation are simplified and shown.

[Collection operation of containers on shelf]

In this embodiment, the transfer device 4 is configured to perform a collection operation of the container 70 with respect to the shelf portion 80 of the container shelf 8. Hereinafter, with reference to FIGS. 12 to 17, the collection operation of the container 70 with respect to the shelf unit 80 will be described. 12 to 17, the first engaging portion 41Bb or the second engaging portion 42Bb in the engaging posture is shown in gray, and the first engaging portion 41Bb or the second engaging portion 42Bb is in the non-engaging posture. It is shown in white. Here, the case where the container 70 stored in the shelf section 80 is lifted up by the first transfer machine 41B will be described as an example. The same applies to the case where the collection operation is performed using the second transfer device 42B.

As shown in FIG. 12, the control device C (see FIG. 5) operates with respect to the reference position 80P of the shelf section 80 based on the detection result of the target section 82T by the reference position detection sensor Se1. Adjust the position of the first transfer machine 41B so that it is in an appropriate position. Additionally, the transport vehicle 100 may be equipped with an angle sensor that detects the angle within the horizontal plane of the first transfer machine 41B. In this case, the angle sensor detects the angle of the first transfer device 41B with respect to the shelf unit 80. Then, the control device C adjusts the angle of the first transfer machine 41B so that it is at an appropriate angle with respect to the shelf section 80, based on the detection result of the angle sensor. The control device (C) controls the position and angle of the first transfer device (41B), the traveling body (1), the swing device (5), and the lifting unit drive unit (40M) for the transfer unit (40M). This is done by controlling. And, when the first transfer machine 41B is in an appropriate positional relationship with respect to the shelf unit 80, the control device C controls The collection operation of the container 70 begins.

As shown in Fig. 13, the control device C moves the first holding portion 41A and the second holding portion 42A relative to the conveying and mounting lifting body 40B to the loading side X1 in the conveying and mounting direction. As a result, the first holding portion 41A and the second holding portion 42A, and the first conveying machine 41B and the second conveying machine 42B approach the shelf portion 80. At this time, the approach distance to the shelf unit 80 is detected by the reference position detection sensor Se1, which also functions as a range sensor. Accordingly, the first holding part 41A and the second holding part 42A, and the first transfer machine 41B and the second transfer machine 42B are used to perform a transfer operation with respect to the shelf unit 80. It can be approached at an appropriate distance.

Next, as shown in FIG. 14, the control device C moves the first locking portion 41Bb relative to the first holding portion 41A to the loading side X1 in the transfer direction. As a result, the first locking portion 41Bb is positioned below the recessed portion 75 in the container 70 and overlaps with the recessed portion 75 when viewed from the top and bottom (hereinafter referred to as “directly below the recessed portion 75”). 」). At this time, the first locking portion 41Bb is in a non-locking position.

And, as shown in FIG. 15, the control device C sets the first locking portion 41Bb in the locking posture in a state where the first locking portion 41Bb is disposed directly below the concave portion 75. In this way, the first locking portion 41Bb is inserted into the concave portion 75, and the first locking portion 41Bb is placed relative to the locking wall 76 on the loading side X1 in the transfer and loading direction.

Thereafter, as shown in FIG. 16, the control device C collects the first holding portion 41A in the transfer direction while bringing the first locking portion 41Bb in the locking posture into contact with the locking wall 76. Move relative to side X2. Thereby, the first locking portion 41Bb draws the container 70 stored in the shelf portion 80 to the first holding portion 41A.

And, as shown in FIG. 17, the control device C operates the first holding section ( 41A) and the second holding portion 42A are moved relative to the transport/mounting lifting body 40B to the collection side X2 in the transport/mounting direction and returned to their original positions. As a result, the first holding portion 41A and the second holding portion 42A, and the first conveying machine 41B and the second conveying machine 42B are separated from the shelf portion 80. And in this example, the control device C maintains the locking posture of the first locking portion 41Bb while the first holding portion 41A holds the container 70. Similarly, the control device C maintains the locking posture of the second locking portion 42Bb while the second holding portion 42A holds the container 70. As a result, the container 70 can be stably maintained so that it does not move in the transport direction X.

In the above manner, the collection operation of the container 70 to the shelf section 80 is performed. As described above, the collection operation is performed by the control device C controlling each functional part of the transport vehicle 100.

[Loading operation of containers on shelves]

In this embodiment, the transfer device 4 is configured to perform a loading operation of the container 70 on the shelf portion 80 of the container shelf 8. Hereinafter, with reference to FIGS. 18 to 20, the loading operation of the container 70 on the shelf portion 80 will be described. 18 to 20, the first engaging portion 41Bb or the second engaging portion 42Bb in the engaging posture is shown in gray, and the first engaging portion 41Bb or the second engaging portion 42Bb is in the non-engaging posture. It is shown in white. Here, the case where the container 70 is placed on the shelf unit 80 by the second transfer machine 42B will be described as an example. The same applies to the case where the loading operation is performed using the first transfer machine 41B.

In this embodiment, immediately after the collection operation of the container 70 from the shelf unit 80 by the above-described first transfer machine 41B, the shelf unit 80 directly below the shelf unit 80 on which the collection operation was performed ), it is assumed that the container 70 is loaded by the second transfer machine 42B. Accordingly, the second transfer machine 42B is already in an appropriate positional relationship with the shelf section 80. Then, similarly to the collection operation of the container 70 with respect to the shelf section 80 described above, the control device C moves the shelf section based on the detection result of the target section 82T by the reference position detection sensor Se1, etc. Control may be performed to adjust the position of the second transfer device 42B so that it has an appropriate positional relationship with respect to the unit 80.

And, as shown in FIG. 18, the control device C (see FIG. 5) places the first holding portion 41A and the second holding portion 42A on the lifting body 40B for transportation and mounting in the transport and mounting direction. Move relative to side X1. As a result, the first holding portion 41A and the second holding portion 42A, and the first conveying machine 41B and the second conveying machine 42B approach the shelf portion 80.

Next, as shown in FIG. 19, the control device C moves the second pressing portion 42Ba relative to the second holding portion 42A to the loading side X1 in the transfer direction to transfer the container 70. Press in the mounting direction toward the loading side X1. As a result, the container 70 to be loaded, which was held by the second holding portion 42A, moves from the second holding portion 42A to the shelf portion 80. In this example, the second pressing portion 42Ba moves the container 70 toward the loading side press against In addition, in this example, the control device C moves to the loading side The second locking portion 42Bb is changed from the locked position to the non-locked position.

And, as shown in Fig. 20, after the control device C places the container 70 to be loaded on the shelf section 80, the second pressing section 42Ba is pressed against the second holding section 42A. The first holding portion 41A and the second holding portion 42A are relatively moved to the collection side return to position As a result, the first holding portion 41A and the second holding portion 42A, and the first conveying machine 41B and the second conveying machine 42B are separated from the shelf portion 80.

In the above manner, the loading operation of the container 70 on the shelf section 80 is performed. As described above, the loading operation is performed by the control device C controlling each functional part of the transport vehicle 100.

[Parallel operation of collection and loading of containers to stacking area]

In this embodiment, the transfer device 4 is configured to perform a collection operation and a loading operation of the container 70 with respect to the stacking area 2A. In detail, the transfer device 4 is configured to perform a parallel operation of collecting and loading the containers 70 in the stacking area 2A. In this embodiment, the transfer device 4 operates in parallel with each of the first lifting mechanism 31 and the second lifting mechanism 32 lifting the container 70 in the stacking area 2A. Do. However, the transfer and loading device 4 is also capable of independently performing the collection operation and loading operation for the stacking area 2A.

Hereinafter, with reference to FIGS. 21 to 34, the parallel operation of collecting and loading the container 70 into the stacking area 2A will be described. 21 to 34, the first engaging portion 41Bb or the second engaging portion 42Bb in the engaging posture is shown in gray, and the first engaging portion 41Bb or the second engaging portion 42Bb is in the non-engaging posture. It is shown in white. In addition, the first lift holding portion 31a of the first lifting mechanism 31 in the holding posture or the second lifting holding portion 32a of the second lifting mechanism 32 is shown in gray, and the first lifting holding portion 32a of the second lifting mechanism 32 in the non-holding posture is shown in gray. The holding portion 31a or the second pulling holding portion 32a is shown in white. Here, in the case where the container 70 is placed on the stacking area 2A by the first transfer machine 41B and the container 70 is lifted from the stacking area 2A by the second transport machine 42B. Explain.

21 to 34 show an example in which five tiers of containers 70 are stacked as a container group 7 in the stacking area 2A. In the drawing, numbers “1 to 5” are assigned to each stacked container 70 in order from bottom to top. Additionally, the character “α” is attached to the container 70 to be loaded held in the first holding portion 41A (see Fig. 25, etc.).

As shown in Fig. 21, the control device C (see Fig. 5) uses the first lift holding portion 31a in the non-holding position to lift the container 70 (container “5”) to be pulled. Place in position. In this example, the control device C arranges the first lift holding portion 31a at a position adjacent to the lower side of the lifting rib portion 73 in the container 70 (container “5”) to be pulled. do.

Next, as shown in FIGS. 22 and 23 , the control device C sets the first lift holding portion 31a in the holding position and operates the first lifting mechanism 31 and the second lifting mechanism 32. By raising, the container 70 (container “5”) as the first lifting object is lifted. In parallel with this, the control device C arranges the second lift holding portion 32a in the non-holding position at a lifting position for lifting the container 70 (container “4”) as the second pulling target. In this example, the control device C positions the second lifting holding portion 32a at a position adjacent to the lower side of the lifting rib portion 73 in the container 70 (container “4”) as the second pulling object. placed in

Next, as shown in FIGS. 24 and 25 , the control device C sets the second lift holding portion 32a in the holding position and operates the first lifting mechanism 31 and the second lifting mechanism 32. By further raising, the container 70 (container “4”) as the second lifting object is lifted. By the above operation, as shown in FIG. 25, the lower part of the container 70 (container “5”) lifted by the first impression holding portion 31a and the lower portion of the container 70 (container “5”) lifted by the second impression holding portion 32a A space in the vertical direction is formed in each lower part of the container 70 (container “4”).

In this embodiment, the first transfer machine 41B uses the container 70 (container “α”) held by the first holding portion 41A as the loading target container 70, and the second lifting holding portion ( The loading target container 70 is transferred and mounted on the container 70 (container “4”) lifted by 32a) (second lifting mechanism 32). In addition, the second transfer machine 42B is a container 70 adjacent to the bottom of the container 70 (container “4”) lifted by the second lifting holding portion 32a (second lifting mechanism 32). ) (Container “3”) as the collection target container 70, the collection target container 70 is transferred and mounted on the second holding portion 42A.

As shown in Fig. 25, the control device C arranges the second holding portion 42A adjacent to the bottom of the container 70 (container “4”) lifted by the second lifting holding portion 32a. It is the height corresponding to the container 70 (container "3") of the collection target, and is placed at a position adjacent to the collection side X2 in the transport direction with respect to the container 70 (container "3") of the collection target.

Next, as shown in FIG. 26, the control device C moves the first holding portion 41A and the second holding portion 42A to the loading side Move the opponent. As a result, the first holding portion 41A and the second holding portion 42A, and the first conveying machine 41B and the second conveying machine 42B approach the stacking area 2A.

Then, as shown in Fig. 27, the control device C moves the second locking portion 42Bb relative to the second holding portion 42A to the loading side X1 in the transfer direction. In this way, the second locking portion 42Bb is placed directly below the recessed portion 75 in the container 70 (container “3”) to be collected. At this time, the second locking portion 42Bb is in a non-locking position.

After that, as shown in FIG. 28, the control device C sets the second locking portion 42Bb in the locking posture, and as shown in FIG. 29, the first holding portion 41A and the second holding portion 42A ) increases. As a result, the container 70 (container “3”) to be collected is tilted upward as it moves toward the collection side The fit of the container 70 (container “2”) adjacent thereto is released. In addition, by raising the first holding part 41A and the second holding part 42A in this way, the first holding part 41A is lifted by the second lifting holding part 32a, and the container 70 ( It is placed above container “4”). In other words, the control device C moves the lower surface of the loading target container 70 (container “α”) held by the first holding portion 41A to the loading target container 70 (container “4”). ) is placed above the top surface. And at this time, the upward movement amount of the first holding part 41A and the second holding part 42A is equal to the above-mentioned vertical movement amount Mv.

Next, as shown in FIG. 30, the control device C moves the second locking portion 42Bb to the collection side ) is moved to the loading side X1 in the transfer and loading direction with respect to the first holding portion 41A. Accordingly, the second locking portion 42Bb draws the container 70 (container “3”) to be collected to the collection side The container “α”) is pressed against the loading side X1 in the transfer and loading direction. At this time, the container 70 (container “α”) to be loaded, which is pressed by the first pressing portion 41Ba, is appropriately guided to move toward the loading side X1 in the transport and loading direction by the guide portion 3G. Additionally, in this example, the control device C moves the second locking portion 42Bb toward the second holding portion 42A while moving the regulating portion 44 toward the container 70 (container “3”) to be collected. It is fixed at a position opposite to the container 70 (container "2") adjacent below from the second holding portion 42A side. Therefore, while appropriately lifting the container 70 (container “3”) to be collected, the container 70 (container “2”) adjacent to the bottom of the container 70 (container “3”) to be collected It is possible to appropriately prevent the containers 70 (container "1") stacked below from falling or moving toward the second holding portion 42A. In this example, the control device C is configured to control the first holding portion 42A. In parallel with pressing the container 70 (container “α”) to be loaded onto the loading side .

And, as shown in FIG. 31, the container 70 (container "3") to be collected, drawn in by the second locking portion 42Bb, is disposed on the second holding portion 42A, and the first pressure is applied. After the container 70 (container “α”) to be loaded, pressed by the pressing portion 41Ba, is placed above the container 70 (container “4”) lifted by the second lifting holding portion 32a. , the control device C lowers the first holding portion 41A and the second holding portion 42A. As a result, as shown in FIG. 32, the container 70 (container “α”) to be loaded, pressed by the first pressing portion 41Ba on the loading side It approaches and fits into the container 70 (container “4”) lifted by the container from above.

After that, as shown in FIG. 33, the control device C moves the first pressing portion 41Ba relative to the first holding portion 41A to the collection side X2 in the transport direction, and further moves the first holding portion 41A. (41A) and the second holding portion 42A are moved relative to the transport and mounting lifting body 40B to the collection side X2 in the transport and mounting direction and returned to their original positions. As a result, the first holding portion 41A and the second holding portion 42A, and the first conveying machine 41B and the second conveying machine 42B are spaced apart from the stacking area 2A.

Next, as shown in FIG. 34, the control device C lowers the first impression holding portion 31a and the second impression holding portion 32a, and the container lifted by the second impression holding portion 32a (70) (container “4”) is fitted into the container 70 (container “2”) placed below it. Thereafter, the control device C changes the second impression holding portion 32a from the holding posture to the non-holding posture. Then, the control device C further lowers the first impression holding portion 31a and the second impression holding portion 32a, and the container 70 (container “container”) lifted by the first impression holding portion 31a 5") is fitted into the container 70 (container "α") disposed below it. Thereafter, the control device C changes the first impression holding portion 31a from the holding posture to the non-holding posture.

As described above, the parallel operation of simultaneously collecting and loading the containers 70 into the stacking area 2A is completed. As described above, the parallel operation is performed by the control device C controlling each functional part of the transport vehicle 100.

[Replacement operation of container on shelf]

In this embodiment, the transfer device 4 is configured to perform a replacement operation to replace the container 70 with respect to the specific shelf section 80. In detail, in the replacement operation, the transfer device 4 lifts the container 70 from the shelf section 80 where the container 70 is stored, and places another container 70 on the empty shelf section 80 as a result. Put down the container (70). As a result, it is possible to maintain the container 70 stored in the shelf section 80 at all times while replacing the container 70 in each shelf section 80 . Therefore, in the entire container shelf 8, the ratio of the shelf portion 80 on which the container 70 is stored is higher than the ratio of the empty shelf portion 80 on which the container 70 is not stored, That is, the storage ratio of the container shelf 8 can be maintained high.

In this embodiment, the transfer device 4 performs a replacement operation for the container 70 in a state where one of the first holding portion 41A and the second holding portion 42A holds the container 70. . In detail, the transfer device 4 targets the shelf 80 on which the container 70 is stored, and from the shelf 80, the first holding portion 41A and the second holding portion ( 42A), a collection operation is performed to transfer and load the container 70 to the side that does not hold the container 70, and the container 70 is held in advance among the first holding portion 41A and the second holding portion 42A. From the side, a loading operation is performed to transfer and place the container 70 on the shelf 80 emptied by the collection operation.

In this example, the transfer device 4 is operated in a state where the first holding portion 41A does not hold the container 70 and the second holding portion 42A holds the container 70. Perform the replacement operation of 70). Then, the transfer device 4 performs a collection operation to transfer and place the container 70 from the shelf portion 80 to the first holding portion 41A, and then from the second holding portion 42A to the corresponding shelf. A loading operation is performed to transfer and load the container 70 to the unit 80.

Hereinafter, with reference to FIGS. 35 to 42, the operation of replacing the container 70 with respect to the shelf portion 80 will be described. 35 to 42, the first engaging portion 41Bb or the second engaging portion 42Bb in the engaging posture is shown in gray, and the first engaging portion 41Bb or the second engaging portion 42Bb is in the non-engaging posture. It is shown in white.

As shown in FIG. 35, the control device C (see FIG. 5) moves the first holding portion 41A and the second holding portion 42A relative to the lifting body 40B in the conveying and mounting direction on the loading side. Move the opponent to X1. As a result, the first holding portion 41A and the second holding portion 42A, and the first conveying machine 41B and the second conveying machine 42B approach the shelf portion 80.

Next, as shown in FIG. 36, the control device C moves the first locking portion 41Bb relative to the first holding portion 41A to the loading side X1 in the transfer direction. In this way, the first locking portion 41Bb is disposed directly below the recessed portion 75 in the container 70. At this time, the first locking portion 41Bb is in a non-locking position.

And, as shown in FIG. 37, the control device C sets the first locking portion 41Bb in the locking posture in a state where the first locking portion 41Bb is disposed directly below the concave portion 75. In this way, the first locking portion 41Bb is inserted into the concave portion 75, and the first locking portion 41Bb is placed relative to the locking wall 76 on the loading side X1 in the transfer and loading direction.

Thereafter, as shown in FIG. 38, the control device C collects the first holding portion 41A in the transfer direction while bringing the first locking portion 41Bb in the locking posture into contact with the locking wall 76. Move relative to side X2. Thereby, the first locking portion 41Bb draws the container 70 stored in the shelf portion 80 to the first holding portion 41A.

As a result, as shown in FIG. 39, the shelf portion 80 from which the container 70 is pulled out is emptied, and each of the first holding portion 41A and the second holding portion 42A holds the container 70. It becomes one state.

And, as shown in FIG. 40, the control device C maintains the position of the first holding portion 41A and the second holding portion 42A in the transfer direction And the second holding part 42A is raised, and the vertical position of the second holding part 42A is aligned with the shelf part 80 emptied by the collection operation. At this time, the position of the traveling body 1 and the direction of the transfer device 4 by the swing device 5 are also maintained. Then, for confirmation, it is detected whether the container 70 is stored in the shelf section 80 on which the collection operation was performed by the storage container detection sensor Se2 mounted on the second holding portion 42A. . When it can be confirmed that the container 70 is not stored in the shelf section 80 according to the detection result of the storage container detection sensor Se2, the second holding section 42A is moved by the second transfer device 42B. ) begins to transfer and load the container 70 held in the corresponding shelf section 80.

As shown in FIG. 41, the control device C moves the second pressing portion 42Ba relative to the second holding portion 42A to the loading side Press toward loading side X1. As a result, the container 70 to be loaded, which was held by the second holding portion 42A, moves from the second holding portion 42A to the shelf portion 80. In this example, the second pressing portion 42Ba moves the container 70 on the loading side press against In addition, in this example, the control device C moves to the loading side The second locking portion 42Bb is changed from the locked position to the non-locked position.

And, as shown in Fig. 42, after the control device C places the container 70 to be loaded on the shelf section 80, the second pressing section 42Ba is pressed against the second holding section 42A. The first holding portion 41A and the second holding portion 42A are relatively moved to the collection side return to position As a result, the first holding portion 41A and the second holding portion 42A, and the first conveying machine 41B and the second conveying machine 42B are separated from the shelf portion 80.

In the above manner, the replacement operation of the container 70 with respect to the shelf portion 80 is performed. As described above, the replacement operation is performed by the control device C controlling each functional part of the transport vehicle 100.

And, in the above example, the first transfer machine 41B does not perform the loading operation of the container 70. Therefore, the storage container detection sensor Se2, which detects whether there is a container 70 on the shelf 80 that is the transfer destination when performing the loading operation, is the first transfer device 41B that does not perform the loading operation. and the first holding portion 41A do not need to be installed in the set. However, in this regard, it is not intended to exclude installing the storage container detection sensor Se2 in the set of the first transfer machine 41B and the first holding portion 41A.

[Other embodiments]

Next, other embodiments of the transport vehicle will be described.

(1) In the above-described embodiment, the height of the N end of the container 70 is considered in the vertical distance 3H between the first pull holding portion 31a and the second pulling holding portion 32a, and “N” An example in which this is set to “2” has been explained. However, it is not limited to this example, and “N” may be set to an integer of 2 or more.

(2) In the above-described embodiment, the height (70H x 2) of the two stages of the container 70 is considered at the vertical distance between the first holding portion 41A and the second holding portion 42A, 4H. An example was explained. However, it is not limited to this example, and taking into account the height of N stages (N is an integer of 2 or more) of the container 70, the vertical distance between the first holding portion 41A and the second holding portion 42A 4H may be set.

(3) In the above-described embodiment, an example has been described in which the transport vehicle 100 is provided with a swing device 5 that swings the transfer device 4 around an axis along the vertical direction; however, the swing device ( 5) is not an essential component. Therefore, the transport vehicle 100 does not need to be equipped with the turning device 5. In this case, the transport direction X becomes a fixed direction with respect to the transport vehicle 100.

(4) In the above embodiment, the reference position detection sensor Se1 is installed in the set of the first holding part 41A and the first transfer machine 41B, and the storage container detection sensor Se2 is installed in the second holding part. An example installed in a set of 42A and 2nd transfer machine 42B has been described. However, the set in which the reference position detection sensor Se1 is installed and the set in which the storage container detection sensor Se2 is installed may be opposite to the above. Alternatively, both the reference position detection sensor Se1 and the storage container detection sensor Se2 may be installed in either set. Furthermore, the reference position detection sensor Se1 may be installed in one set, and the storage container detection sensor Se2 may be installed in both sets.

(5) In the above-described embodiment, the first holding and driving part 41MA moves the first holding part 41A along the transport direction An example in which the second holding drive unit 42MA is configured by a common drive source has been described. However, the first maintenance drive unit 41MA and the second maintenance drive unit 42MA may be driven by independent drive sources.

(6) In the above-described embodiment, when the regulating portion 44 is mounted on the second holding portion 42A and the second transfer machine 42B performs a collection operation for the container 70, the collection object An example in which the container 70 adjacent to the container 70 is disposed opposite to the second holding portion 42A has been described. However, it is not limited to this example, and the regulating portion 44 may also be provided on the first holding portion 41A. The regulating portion 44 provided on the first holding portion 41A allows the plurality of containers 70 to be lifted in a stacked state by, for example, the first lifting mechanism 31 and the first conveying machine 41B. When performing a collection operation for the uppermost container 70, the uppermost container 70 may be disposed so as to face the first holding portion 41A side with respect to the adjacent container 70 below.

(7) In the above-described embodiment, an example has been described in which the second lifting mechanism 32 is provided with a guide portion 3G for guiding the container 70 to be transported and mounted by the transport and loading device 4. . However, it is not limited to this example, and the guide portion 3G may be provided on at least one of the first lifting mechanism and the second lifting mechanism. That is, the guide portion 3G is installed in the first lifting mechanism 31 and does not need to be installed in the second lifting mechanism 32. In the case of this configuration, it is preferable to transport (stack) a separate container 70 on the container 70 lifted by the first lifting mechanism 31. Alternatively, the guide portion 3G may be provided on both sides of the first lifting mechanism 31 and the second lifting mechanism 32. In this configuration, separate containers 70 are placed above the container 70 lifted by the first lifting mechanism 31 and above the container 70 lifted by the second lifting mechanism 32. It is desirable for transfer mounting (stacking).

(8) In the above-described embodiment, the first transfer device 41B is configured to move relative to the first holding unit 41A in the transfer direction An example in which (42A) is configured to move relative to the transfer and loading direction X has been explained. However, it is not limited to this example, and the first transfer device 41B and the first holder 41A are configured to move integrally in the transfer direction The portion 42A may be configured to move integrally in the transfer direction X.

(9) In the above-described embodiment, in the configuration of the container 70, the lifting rib portion 73 lifted by the pulling device 3 is formed on the upper part of the main wall portion 72. explained. However, the lifting rib portion 73 may be formed at any location on the main wall portion 72, for example, in the central portion or lower portion in the vertical direction. In addition, the part that is subject to collection of the container 70 by the lifting device 3 is not limited to the lifting rib portion 73. The lifting device 3 may use any part of the container 70 to be collected. For example, the lifting device 3 may be configured to lift the container 70 by holding an uneven portion of the main wall portion 72 of the container 70.

(10) In the above embodiment, the transport and loading of the container 70 by the first transfer machine 41B and the transport and loading of the container 70 by the second transfer machine 42B are given as examples of specific situations. Listen and explain. Depending on the situation, there are cases where the container 70 is transported and mounted using only the first transport machine 41B, and in other cases, the container 70 is transported and mounted using only the second transport machine 42B. There is also. For example, when replacing the container 70 stored in the lowest shelf section 80 of the container shelf 8 and the container 70 in the stacking area 2A, the first transfer machine 41B And among the second transfer mounts (42B), only the second transfer mount (42B) disposed on the lower side can be used. In this case, specifically, the second transfer machine 42B lifts the container 70 stored in the lowest shelf portion 80 of the container shelf 8 and stacks the containers 70. It is placed in area 2A (a space formed below the container 70 lifted by the first lifting mechanism 31). After that, the second transfer machine 42B moves the other container 70 in the stacking area 2A (the container 70 disposed below the container 70 lifted by the second lifting mechanism 32). Lift the container and place the other container (70) on the empty bottom shelf (80). In addition, in another situation, when the container 70 stored in the uppermost shelf portion 80 of the container shelf 8 and the container 70 in the stacking area 2A are replaced, the first transfer machine ( Among the 41B) and the second transfer mount (42B), only the first transfer mount (41B) disposed on the upper side can be used. In this case, specifically, the first transfer machine 41B lifts the container 70 stored in the uppermost shelf portion 80 of the container shelf 8 and stacks the containers 70. It is placed in area 2A (a space formed below the container 70 lifted by the first lifting mechanism 31). After that, the first transfer machine 41B moves the other container 70 in the stacking area 2A (the container 70 disposed below the container 70 lifted by the second lifting mechanism 32). Lift the container and place the other container (70) on the empty uppermost shelf (80).

(11) In the above-described embodiment, an example in which the traveling body 1 is configured to travel on the floor has been described. However, it is not limited to this example, and the traveling body 1 may be configured to travel on a rail installed near the floor or ceiling. That is, the transport vehicle 100 may be configured, for example, as a ground transport car running along a rail set on the floor or an overhead transport car running along a rail suspended from the ceiling. Additionally, the transport vehicle 100 may be configured as a stacker crane, for example.

(12) The configuration disclosed in the above-described embodiment can also be applied in combination with the configuration disclosed in other embodiments, as long as there is no conflict. As for other configurations, the embodiments disclosed in this specification are merely examples in all respects. Accordingly, various modifications may be made as appropriate without departing from the spirit of the present disclosure.

[Overview of the above embodiment]

Hereinafter, the transport vehicle described above will be described.

A transport vehicle that transports containers configured to be stackable in the vertical direction,

A running vehicle,

a container group support portion mounted on the traveling body and supporting the plurality of containers as a group of containers in a stacked state within a defined stacking area;

a lifting device mounted on the traveling body and lifting the container of the container group supported on the container group support portion;

A transport and loading device is mounted on the traveling body and performs transport and loading of the container,

The transport and mounting device includes a first holding portion for holding the container, a second holding portion disposed below the first holding portion and holding the container, and a second holding portion between the first holding portion and the stacking area. A first transfer device for transporting and loading the container, and a second transportation device for transporting and loading the container between the second holding portion and the stacking area,

The lifting device includes a first lifting mechanism for lifting the container at an arbitrary height within the group of containers stacked in the stacking area relative to the container adjacent below the container, and lifting the container by the first lifting device. It is provided with a second lifting mechanism that lifts the container lower than the lifted container relative to the container adjacent to the container below.

According to this configuration, containers can be transported and placed in the stacking area by the first transporter, and containers can also be transported and placed in the stacking area by the second transporter. Additionally, in a group of containers in a stacked state, space in the vertical direction can be formed below the container lifted by the first lifting mechanism and below the container lifted by the second lifting mechanism. Therefore, by using the two spaces formed in this way, the transport and loading of containers by the first transporter and the second transporter for the group of containers in a stacked state can be performed in parallel. As described above, according to this configuration, it becomes possible to perform a plurality of transfer and loading operations in parallel with respect to a plurality of stacked containers.

Here, the first lifting mechanism includes a first lifting holding portion that holds the container,

The second lift mechanism includes a second lift holder disposed below the first lift holder to hold the container,

The vertical distance between the first impression holding portion and the second impression holding portion is equal to the height of N stages of the container (N is an integer of 2 or more) during the conveying operation by the second conveying mounter. It is preferable if the height is set according to the height of the container to be transported and loaded plus the vertical movement amount.

According to this configuration, even when the first transfer mount and the second transfer mount move up and down integrally, the first transfer mount is not affected by the transfer operation of the second transfer mount accompanying the up and down movement, and The container can be appropriately transported and mounted between the first lift holding part and the second lifting holding part in the vertical direction. As a result, the container can be properly stacked on the container lifted and held by the second lifting holding portion.

In addition, the vertical distance between the first holding part and the second holding part is equal to the height of the two stages of the container, and the vertical movement amount of the container as a transport object during the transporting operation by the second transporting machine. It is preferable that the spacing is greater than the height added.

According to this configuration, the container (adjacent container) adjacent to the container (pull container) lifted and held by the second lift holder is lifted up by the second transfer machine by a transport operation involving up and down movement. In this case, the adjacent container to be collected can be appropriately lifted so that the adjacent container does not interfere with the lifting container. In addition, when a separate container is placed in the space formed below the impression container by the second transfer loader through a transfer operation involving up and down movement, it is appropriate to prevent the separate container to be loaded from interfering with the impression container. You can put it down easily.

In addition, in a state where the second holding unit is disposed at a height at which the second transfer mounter transfers and mounts the container adjacent to the bottom of the container lifted by the second lifting mechanism to the second holding unit, The first holder and the first holder are disposed at a height for the first transfer mount to transfer and mount the container held by the first holder onto the container lifted by the second lifting mechanism. 2 It is preferable if the above-mentioned space between the holding parts in the vertical direction is set.

According to this configuration, it is easy to carry out the transfer and placement of containers from the stacking area to the second holding section by the second transfer machine and the transfer and loading of containers from the first holding section to the stacking area by the first transfer machine in parallel. A configuration can be properly realized.

In addition, the traveling body is configured to travel along a container shelf having a plurality of stages in the vertical direction, a shelf section for storing the container,

The direction of movement of the container transported by the transport and loading device is the transport direction,

The transfer device is rotated around an axis along the vertical direction, and the transfer device is in a first posture with the transfer direction toward the stacking area and a second posture with the transfer direction toward the container shelf. Equipped with a turning device to change the direction of,

The first transfer device transfers and mounts the container between the first holding portion and the stacking area in the first posture, and the first holding portion and the shelf portion in the second posture. Carrying out transfer and loading of the container between the

The second transfer device transfers and mounts the container between the second holding portion and the stacking area in the first posture, and the second holding portion and the shelf portion in the second posture. It is preferable to transfer and load the container between the two.

According to this configuration, the transport and loading device can perform transport and loading of containers to the shelf portion of the container shelf and transport and loading of containers to the stacking area. In addition, in the second posture where the transfer device faces the container shelf in the transfer direction, the transfer operation by the first transfer unit and the transfer operation by the second transfer unit to the container shelf can be performed in parallel.

Additionally, in the above configuration,

The transport and mounting device is provided with a reference position detection sensor that detects a reference position for storing the container in the shelf section, and a storage container detection sensor that detects the container stored in the shelf section,

The reference position detection sensor is installed in one set of the set of the first holding part and the first transfer machine and the set of the second holding part and the second transport machine,

The storage container detection sensor is the other set of the set of the first holder and the first transfer machine and the set of the second holder and the second transport machine, in which the reference position detection sensor is not installed. It is desirable if it is installed in .

According to this configuration, by using the reference position detection sensor, the container can be transported and placed at an appropriate transport and loading position with respect to the shelf unit. Additionally, by using the storage container detection sensor, it is possible to detect containers already stored in the shelf section, so that an operation to store more containers in such a shelf section can be prevented. And, the reference position detection sensor is installed in one set of the set of the first holding part and the first transfer machine and the set of the second holding part and the second transport machine, and the storage container detection sensor is a reference position detection sensor. Since it is installed on the other set that is not installed, the total number of sensors installed on the transfer device can be reduced.

In addition, the moving direction of the container transported by the transport and loading device is the transport and loading direction,

The transfer device preferably includes a first holding drive unit that moves the first holding unit along the transfer direction, and a second holding drive unit that moves the second holding unit along the transfer direction.

According to this configuration, the first holding part and the second holding part can be brought close to the stacking area, and in this state, the container can be transported and mounted by the transport and mounting device. Therefore, the transport and loading of the container can be performed stably.

In addition, a collection operation in which the container adjacent to the bottom of the container lifted by the second lifting mechanism is used as a collection target container, and the second transfer device transfers and mounts the collection target container to the second holding unit. It is configured to do,

The transfer device is disposed opposite to the second holding unit side with respect to the container adjacent to the collection target container when the second transfer device performs the collection operation of the collection target container, and the collection target container It is preferable to provide a regulating portion that regulates movement of the container adjacent to the bottom toward the second holding portion.

According to this configuration, during the collection operation, when a collection object container moving toward the second holder interferes with an adjacent container, which is a container adjacent below it, and a force toward the second holder side is applied to the adjacent container, the adjacent container moves toward the second holder. It is possible to prevent a plurality of containers stacked below a container and an adjacent container from falling over on the second holder side.

Additionally, in the above configuration,

The direction of movement of the container transported by the transport and loading device is the transport direction,

The second transfer device has a second locking portion that catches the container,

The regulating portion is mounted on the second holding portion and is disposed below the second locking portion,

It is preferable if the second locking portion and the regulating portion are configured to be relatively movable along the transfer and mounting direction.

According to this configuration, when performing a collection operation, the second locking portion can be moved toward the second holding portion while the regulating portion can be fixed to the container at a position opposite to the second holding portion. Therefore, while appropriately lifting the container to be collected, it is possible to appropriately prevent the container adjacent to the bottom of the container to be collected and the plurality of containers stacked below it from falling toward the second holder.

Additionally, it is preferable that at least one of the first lifting mechanism and the second lifting mechanism be provided with a guide portion that guides the container being transported by the transporting device.

According to this configuration, the container that is transported and loaded into the stacking area by the transfer device can be appropriately guided by the guide portion.

The technology related to the present disclosure can be used in a transport vehicle that transports containers configured to be stackable in the vertical direction.

100: Transport vehicle
1: Running body
2: Dragoon support section
2A: Stacking area
3: Raising device
3G: Guide section
31: first lifting mechanism
31a: first impression holding portion
32: second lifting mechanism
32a: second impression holding unit
4: Transport loading device
41A: first holding portion
41B: 1st transfer device
41MA: first maintenance driving unit
42A: second holding portion
42B: 2nd transfer device
42Bb: second engaging portion
42MA: second maintenance drive unit
44: Regulatory Department
5: Swivel device
7: Dragon Army
70: Courage
8: container shelf
80: shelf part
80P: Reference position
Mv: vertical movement amount
P1: 1st posture
P2: Second posture
Se1: Reference position detection sensor
Se2: storage container detection sensor
X: Transfer loading direction

Claims (10)

A transport vehicle that transports containers configured to be stackable in the vertical direction,
A traveling body;
a container group support portion mounted on the traveling body and supporting the plurality of containers as a group of containers in a stacked state within a defined stacking area;
a lifting device mounted on the traveling body and lifting the container of the container group supported on the container group support portion; and
a transfer device mounted on the traveling body and performing transfer of the container;
Including,
The transport and mounting device includes a first holding portion for holding the container, a second holding portion disposed below the first holding portion and holding the container, and a second holding portion between the first holding portion and the stacking area. A first transfer device for transporting and loading the container, and a second transportation device for transporting and loading the container between the second holding portion and the stacking area,
The lifting device includes a first lifting mechanism for lifting the container at an arbitrary height within the group of containers stacked in the stacking area relative to the container adjacent below the container, and lifting the container by the first lifting device. Equipped with a second lifting mechanism that lifts the container lower than the lifted container relative to the container adjacent to the lower side of the container,
Transport car. According to paragraph 1,
The first lifting mechanism includes a first lifting holding portion that holds the container,
The second lift mechanism includes a second lift holder disposed below the first lift holder to hold the container,
The vertical distance between the first lift holding part and the second lifting holding part is at a height of N stages of the container (N is an integer of 2 or more), and the height of the first lifting holding part and the second lifting holding part is equal to the height of the container during the transporting operation by the second transporting machine. A transport vehicle set according to the height of the object plus the vertical movement amount of the container. According to claim 1 or 2,
The vertical distance between the first holding part and the second holding part is the height of the two stages of the container plus the vertical movement amount of the container as a transport object during the transporting operation by the second transporting machine. A conveyance vehicle with a gap of more than height. According to any one of claims 1 to 3,
In a state where the second holder is disposed at a height at which the second transfer mounter transfers and mounts the container adjacent to the bottom of the container lifted by the second lifting mechanism to the second holder, the first holder is The first holding portion and the second holding portion are arranged so that the first holding portion is disposed at a height at which the transporter mounts the container held in the first holding portion onto the container lifted by the second lifting mechanism. A transport vehicle in which the above-described vertical intervals are set. According to any one of claims 1 to 4,
The traveling body is configured to travel along a container shelf having a plurality of stages in the vertical direction, a shelf section for storing the container,
The direction of movement of the container transported by the transport and loading device is the transport direction,
The transfer device is rotated around an axis along the vertical direction, so that the transfer direction is in a first posture toward the stacking area, and the transfer direction is in a second posture toward the container shelf, Equipped with a turning device that changes the direction of the transfer device,
The first transfer device transfers and mounts the container between the first holding portion and the stacking area in the first posture, and the first holding portion and the shelf portion in the second posture. Carrying out transfer and loading of the container between the
The second transfer device transfers and mounts the container between the second holding portion and the stacking area in the first posture, and the second holding portion and the shelf portion in the second posture. A transport vehicle that transports and loads the above-mentioned containers. According to clause 5,
The transport and mounting device is provided with a reference position detection sensor that detects a reference position for storing the container in the shelf section, and a storage container detection sensor that detects the container stored in the shelf section,
The reference position detection sensor is installed in one of the sets of the first holder and the first transfer machine and the set of the second holder and the second transport machine,
The storage container detection sensor is the other set of the set of the first holder and the first transfer machine and the set of the second holder and the second transport machine, in which the reference position detection sensor is not installed. Transport vehicle installed in. According to any one of claims 1 to 6,
The direction of movement of the container transported by the transport and loading device is the transport direction,
The transport vehicle includes a first holding drive unit that moves the first holding unit along the transfer direction, and a second holding drive unit that moves the second holding unit along the transfer direction. According to any one of claims 1 to 7,
A collection operation in which the container adjacent to the bottom of the container lifted by the second lifting mechanism is used as a container to be retrieved, and the second transporter transports the container to the second holding unit. It is configured to do,
The transfer device is disposed opposite to the second holding unit with respect to the container adjacent to the collection target container when the second transfer device performs the collection operation of the collection target container, and the collection target container is A transport vehicle comprising a regulating portion that regulates movement of the container adjacent to the bottom of the container toward the second holding portion. According to clause 8,
The direction of movement of the container transported by the transport and loading device is the transport direction,
The second transfer device has a second locking portion that catches the container,
The regulating portion is mounted on the second holding portion and is disposed below the second locking portion,
The transport vehicle wherein the second locking portion and the regulating portion are configured to be relatively movable along the transfer and loading direction. According to any one of claims 1 to 9,
A transport vehicle, wherein at least one of the first lifting mechanism and the second lifting mechanism is provided with a guide part for guiding the container transported by the transport and loading device.